Robotic deburring of two dimensional parts with unknown geometry

Two of the problems in robotic deburring are addressed: tracking the planar two-dimensional part contour and control of the metal removal process. The tracking mechanism is a roller bearing mounted on a force sensor at the robot endpoint. The tracking controller utilizes the force measured by this force sensor to find the normal vector to the part surface. Using the part contour information the robot travels along the edge of the part. The metal removal algorithm uses another set of contact forces, cutting forces generated by the cutter, to develop a stable metal removal. This algorithm generates electronic compliancy for the robot along the edge of the part. This electronic compliancy causes the robot to slow down when the cutter encounters a burr. A set of experimental results is given to verify the effectiveness of the approach